offroad panel stuffs

common/params_keys.h

@@ -188,6 +188,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
     // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
     {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
     {"MapboxRoute", {PERSISTENT, STRING}},

selfdrive/ui/sunnypilot/SConscript

@@ -30,6 +30,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/brightness.cc",
   "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/navigation_panel.cc",
   "sunnypilot/qt/offroad/settings/osm_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",

selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.cc

@@ -0,0 +1,85 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
+
+NavigationPanel::NavigationPanel(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 25, 50, 25);
+
+  list = new ListWidget(this, false);
+  scroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(scroller);
+
+  // Mapbox Token
+  mapbox_token = new ButtonControl(tr("Mapbox Token"), tr("Edit"), tr("Enter your Mapbox API token"));
+  QObject::connect(mapbox_token, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxToken"));
+    QString token = InputDialog::getText(tr("Enter Mapbox Token"), this, "", false, -1, current);
+    if (!token.isEmpty()) {
+      params.put("MapboxToken", token.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_token);
+
+  // Mapbox Route
+  mapbox_route = new ButtonControl(tr("Mapbox Route"), tr("Edit"), tr("Enter Mapbox route data"));
+  QObject::connect(mapbox_route, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxRoute"));
+    QString route = InputDialog::getText(tr("Enter Mapbox Route"), this, "", false, -1, current);
+    if (!route.isEmpty()) {
+      params.put("MapboxRoute", route.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_route);
+
+  // Allow Navigation
+  allow_navigation = new ParamControlSP("AllowNavigation", tr("Allow Navigation"), tr("Enable navigation features and start navigationd"), "", this);
+  QObject::connect(allow_navigation, &ParamControlSP::toggleFlipped, this, &NavigationPanel::updateNavigationVisibility);
+  list->addItem(allow_navigation);
+
+  // Mapbox Recompute
+  mapbox_recompute = new ParamControlSP("MapboxRecompute", tr("Mapbox Recompute"), tr("Enable automatic route recomputation"), "", this);
+  list->addItem(mapbox_recompute);
+
+  // Nav Allowed
+  nav_allowed = new ParamControlSP("NavAllowed", tr("Navigation Allowed"), tr("Allow navigation features"), "", this);
+  list->addItem(nav_allowed);
+
+  // Nav Events
+  nav_events = new ParamControlSP("NavEvents", tr("Navigation Events"), tr("Enable navigation event notifications"), "", this);
+  list->addItem(nav_events);
+}
+
+void NavigationPanel::updateNavigationVisibility(bool state) {
+  mapbox_recompute->setVisible(state);
+  nav_allowed->setVisible(state);
+  nav_events->setVisible(state);
+}
+
+void NavigationPanel::showEvent(QShowEvent *event) {
+  refresh();
+}
+
+void NavigationPanel::refresh() {
+  allow_navigation->refresh();
+
+  bool nav_enabled = allow_navigation->isToggled();
+  updateNavigationVisibility(nav_enabled);
+
+  QString token = QString::fromStdString(params.get("MapboxToken"));
+  mapbox_token->setValue(token.isEmpty() ? tr("Not set") : token);
+
+  QString route = QString::fromStdString(params.get("MapboxRoute"));
+  mapbox_route->setValue(route.isEmpty() ? tr("Not set") : route);
+
+  mapbox_recompute->refresh();
+  nav_allowed->refresh();
+  nav_events->refresh();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h

@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+
+class NavigationPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit NavigationPanel(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+public slots:
+  void updateNavigationVisibility(bool state);
+
+private:
+  Params params;
+  ListWidget* list;
+  ScrollViewSP* scroller;
+  ParamControlSP* allow_navigation;
+  ButtonControl* mapbox_token;
+  ButtonControl* mapbox_route;
+  ParamControlSP* mapbox_recompute;
+  ParamControlSP* nav_allowed;
+  ParamControlSP* nav_events;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc

@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+    PanelInfo("   " + tr("Navigation"), new NavigationPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),

sunnypilot/navd/navigationd.py

@@ -31,6 +31,7 @@ class Navigationd:
     self.destination: str | None = None
     self.new_destination: str = ''
 
+    self.allow_navigation: bool = False
     self.recompute_allowed: bool = False
     self.allow_recompute: bool = False
     self.reroute_counter: int = 0
@@ -46,6 +47,7 @@ class Navigationd:
     if self.last_position is not None:
       self.frame += 1
       if self.frame % 9 == 0:
+        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
         self.is_metric = self.params.get('IsMetric', return_default=True)
         self.new_destination = self.params.get('MapboxRoute')
         self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
@@ -76,7 +78,7 @@ class Navigationd:
     banner_instructions: str = ''
     progress: dict | None = None
     nav_data: dict = {}
-    if self.last_position is not None:
+    if self.allow_navigation and self.last_position is not None:
       if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
         nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude, self.last_position.longitude)
         nav_data['current_speed_limit'] = self.nav_instructions.get_current_speed_limit_from_progress(progress, self.is_metric)
@@ -102,6 +104,11 @@ class Navigationd:
         if self.route:
           if progress['current_step_idx'] == len(self.route['steps']) - 1:
             self.allow_recompute = False
+    else:
+      banner_instructions = ''
+      progress = None
+      nav_data = {}
+      self.valid = False
 
     return banner_instructions, progress, nav_data